26 lines
615 B
C++
26 lines
615 B
C++
/*
|
|
* FrictionEstimation.cpp
|
|
*
|
|
* Created on: 13 ÿíâ. 2021 ã.
|
|
* Author: titov
|
|
*/
|
|
|
|
#include "FrictionEstimation.hh"
|
|
|
|
processing::FrictionEstimation::FrictionEstimation(
|
|
control::regulator::FrictionModel_Dw3Vw1 & friction_model,
|
|
systemic::ISignal & speed ) : friction_model(friction_model), speed(speed),
|
|
friction_est(0.0f) {}
|
|
|
|
const float& processing::FrictionEstimation::getEtimatedFriction() const {
|
|
|
|
return friction_est;
|
|
|
|
}
|
|
|
|
void processing::FrictionEstimation::process() {
|
|
|
|
friction_est = friction_model.update( control::PhaseSpacePoint<float>( speed, 0.0f ) ).value;
|
|
|
|
}
|